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7.7.1
Start of positioning control
Positioning control can be started by using positioning data set with the programming tool or by setting positioning data
in a program. The I/O signals used under each control system are shown below.
Near-point dog signal
Deviation counter clear signal
External command signal
CW/PULSE/A phase output
CCW/SIGN/B phase output
Drive unit ready signal
Upper limit signal
Lower limit signal
*1
When this signal is not required, it can be used for other functions such as the general-purpose input and general-
purpose output.
*2
These signals are required when the hardware stroke limit and OPR retry functions are used.
(1) Starting with positioning data set by the programming tool
Positioning data (up to 10 sets of data for each axis) can be set easily using the programming tool. Note that once
set, positioning data cannot be changed in a program. Two axes can be started simultaneously at the pulse
output level using the Two axes simultaneous start instruction (IPSIMUL(P)).
(a) Setting
Set positioning data (10 sets of data for each axis) using the programming tool and write the data to the LCPU.
(b) Starting
Start positioning with the Table start instruction (IPPSTRT1(P)) by specifying a positioning data No. ( Page
138, Section 7.12.1 (1)) Only one set of positioning data can be executed with each instruction. To start two
axes simultaneously, use the Two axes simultaneous start instruction (IPSIMUL(P)).
(2) Starting by setting positioning data with a device
Start positioning with the Positioning start instruction (IPDSTRT1(P)) by specifying the device in which positioning
data is stored. Positioning data can be changed every time positioning is started. Use this mode when there are
many positioning points and 10 sets of positioning data are not enough, or when positioning addresses and
command speeds are calculated by a program, among others.
(a) Setting
Set positioning data to a device by a program.
(b) Starting
Positioning is started when the set device is specified as setting data and the Positioning start instruction
(IPDSTRT1(P)) is executed in the program ( Page 140, Section 7.12.1 (2)). Two axes cannot be started
simultaneously.
I/O signal
*1
Zero signal
*1
*1
*1
*1*2
*1*2
: Wiring required, : Wire as necessary, : Wiring not required
Control system
Position control
Speed control
*1
*1
CHAPTER 7 POSITIONING FUNCTION
Speed/position switching
control
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